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1. 发明授权

US08944070B2 Non-force reflecting method for providing tool force information to a user of a telesurgical system 有权
标题翻译：用于向远程外科手术系统的用户提供工具力信息的非强制反射方法
公开(公告)号：US08944070B2
公开(公告)日：2015-02-03
申请号：US11093372
申请日：2005-03-30
申请人： Gary S. Guthart , David Q. Larkin , David J. Rosa , Paul W. Mohr , Giuseppe Prisco
发明人： Gary S. Guthart , David Q. Larkin , David J. Rosa , Paul W. Mohr , Giuseppe Prisco
IPC分类号： A61B19/00 , A61B1/04 , A61B8/12 , A61B17/00 , A61B1/00 , A61B1/313
CPC分类号： A61B34/30 , A61B1/00045 , A61B1/0005 , A61B1/04 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B17/00234 , A61B18/20 , A61B34/20 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2034/107 , A61B2034/305 , A61B2090/031 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2090/0807 , A61B2090/506
摘要： Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.
摘要翻译：使用除主力操纵器上的力反射之外的替代方式（例如提供关于用户可见的，用户可听的或触觉的“嗡嗡声”或“粘性”）指示符的信息，向远程外科系统的用户提供工具力信息，以允许信息的扩展处理，包括放大，同时不显着影响远程外科系统或远程外科系统中的任何闭环控制系统的稳定性。

2. 发明授权

US07819859B2 Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator 有权
标题翻译：用于减少内部产生的摩擦和惯性阻力的控制系统，以手动定位外科手术器械
公开(公告)号：US07819859B2
公开(公告)日：2010-10-26
申请号：US11479144
申请日：2006-06-30
申请人： Giuseppe Prisco , David Q. Larkin , William C Nowlin
发明人： Giuseppe Prisco , David Q. Larkin , William C Nowlin
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B90/361 , B25J9/1638 , B25J9/1641 , B25J9/1689 , G05B2219/41213 , G05B2219/41426 , Y10S901/02 , Y10S901/15 , Y10S901/28 , Y10S901/30
摘要： A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
摘要翻译：机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的关节角速度产生以补偿非线性粘滞力，库伦摩擦，齿槽效应和经受关节的惯性力，通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

3. 发明申请

US20090099692A1 MEDICAL ROBOTIC SYSTEM WITH SLIDING MODE CONTROL 有权
标题翻译：具有滑动模式控制的医用机器人系统
公开(公告)号：US20090099692A1
公开(公告)日：2009-04-16
申请号：US12247346
申请日：2008-10-08
申请人： Giuseppe Prisco , David Q. Larkin
发明人： Giuseppe Prisco , David Q. Larkin
IPC分类号： B25J13/08
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译：医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统主操纵器。该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

4. 发明授权

US10555775B2 Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery 有权
公开(公告)号：US10555775B2
公开(公告)日：2020-02-11
申请号：US11130471
申请日：2005-05-16
申请人： Brian David Hoffman , David Q. Larkin , Giuseppe Prisco , Guanghua G Zhang , Rajesh Kumar
发明人： Brian David Hoffman , David Q. Larkin , Giuseppe Prisco , Guanghua G Zhang , Rajesh Kumar
IPC分类号： A61B5/06 , A61B1/00 , A61B1/04 , A61B1/313 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/00 , A61B5/00 , A61B34/10
摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

5. 发明申请

US20100145521A1 ROBOTIC SURGICAL SYSTEM WITH JOINT MOTION CONTROLLER ADAPTED TO REDUCE INSTRUMENT TIP VIBRATIONS 有权
标题翻译：具有联合运动控制器的机器人手术系统适用于减少仪器提示振动
公开(公告)号：US20100145521A1
公开(公告)日：2010-06-10
申请号：US12703399
申请日：2010-02-10
申请人： Giuseppe Prisco , David J. Rosa
发明人： Giuseppe Prisco , David J. Rosa
IPC分类号： B25J3/00 , G06F19/00 , B25J9/00
CPC分类号： B25J9/1689 , A61B1/00193 , A61B1/313 , A61B34/70 , A61B34/75 , G05B2219/39241 , G05B2219/40144 , G05B2219/40406 , G05B2219/45117 , G06F19/3418 , G06F19/3481 , G16H40/63
摘要： A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.
摘要翻译：机器人手术系统具有握持用于执行外科手术的器械的机器人手臂，以及用于根据主操纵器的用户操纵来控制手臂及其器械的移动的控制系统。控制系统包括其前进路径中的滤波器，以衰减可能导致仪器尖端振动的主输入命令，以及在主机械手的反馈路径中的逆滤波器，其被配置为补偿由前向路径滤波器引入的延迟。为了加强控制，主控指令和从属关节观测器也被插入到控制系统中，以使用接收到的从关节位置指令和扭矩反馈来估计从关节位置，速度和加速度指令，并使用感测到的从属关系来估计实际的从关节位置，速度和加速度关节位置和指令的从动关节电机转矩。

6. 发明授权

US07689320B2 Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations 有权
标题翻译：具有联合运动控制器的机器人手术系统适用于减少仪器尖端振动
公开(公告)号：US07689320B2
公开(公告)日：2010-03-30
申请号：US11509172
申请日：2006-08-24
申请人： Giuseppe Prisco , David J. Rosa
发明人： Giuseppe Prisco , David J. Rosa
IPC分类号： G06F19/00
CPC分类号： B25J9/1689 , A61B1/00193 , A61B1/313 , A61B34/70 , A61B34/75 , G05B2219/39241 , G05B2219/40144 , G05B2219/40406 , G05B2219/45117 , G06F19/3418 , G06F19/3481 , G16H40/63
摘要： A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.
摘要翻译：机器人手术系统具有握持用于执行外科手术的器械的机器人手臂，以及用于根据主操纵器的用户操纵来控制手臂及其器械的移动的控制系统。控制系统包括其前进路径中的滤波器，以衰减可能导致仪器尖端振动的主输入命令，以及在主机械手的反馈路径中的逆滤波器，其被配置为补偿由前向路径滤波器引入的延迟。为了加强控制，主控指令和从属关节观测器也被插入到控制系统中，以使用接收到的从关节位置指令和扭矩反馈来估计从关节位置，速度和加速度指令，并使用感测到的从属关系来估计实际的从关节位置，速度和加速度关节位置和指令的从动关节电机转矩。

7. 发明授权

US09241767B2 Method for handling an operator command exceeding a medical device state limitation in a medical robotic system 有权
标题翻译：用于处理超过医疗机器人系统中的医疗装置状态限制的操作者命令的方法
公开(公告)号：US09241767B2
公开(公告)日：2016-01-26
申请号：US11613926
申请日：2006-12-20
申请人： Giuseppe Prisco , David J. Rosa
发明人： Giuseppe Prisco , David J. Rosa
IPC分类号： A61B17/00 , A61B19/00 , B25J3/04 , B25J9/16
CPC分类号： A61B34/37 , A61B1/00193 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/74 , A61B34/76 , A61B90/361 , A61B2017/00115 , A61B2017/00119 , A61B2017/00123 , A61B2034/301 , A61B2034/305 , A61B2034/741 , A61B2034/742 , A61B2034/744 , A61B2090/065 , B25J3/04 , B25J9/1674 , B25J9/1689
摘要： A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.
摘要翻译：医疗机器人系统具有保持医疗装置的机器人手臂，以及用于根据操作者操纵输入装置来控制手臂的移动的控制系统。如果医疗装置被指示超过限制阈值的状态，则控制系统通过输入装置解除医疗装置的控制，伺服臂使其保持在其当前状态，使输入装置伺服将其设置在使得施加在输入装置上的力保持在其当前水平的位置，请求操作者减轻输入装置的保持，在检测到这种减轻保持时设置与输入装置相关联的参数，使得医疗器械被命令到不超过限制的不同状态，并且通过输入装置重新控制医疗装置。

8. 发明申请

US20070142968A1 Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations 有权
标题翻译：具有联合运动控制器的机器人手术系统适用于减少仪器尖端振动
公开(公告)号：US20070142968A1
公开(公告)日：2007-06-21
申请号：US11509172
申请日：2006-08-24
申请人： Giuseppe Prisco , David J. Rosa
发明人： Giuseppe Prisco , David J. Rosa
IPC分类号： G06F19/00
CPC分类号： B25J9/1689 , A61B1/00193 , A61B1/313 , A61B34/70 , A61B34/75 , G05B2219/39241 , G05B2219/40144 , G05B2219/40406 , G05B2219/45117 , G06F19/3418 , G06F19/3481 , G16H40/63
摘要： A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.
摘要翻译：机器人手术系统具有握持用于执行外科手术的器械的机器人手臂，以及用于根据主操纵器的用户操纵来控制手臂及其器械的移动的控制系统。控制系统包括其前进路径中的滤波器，以衰减可能导致仪器尖端振动的主输入命令，以及在主机械手的反馈路径中的逆滤波器，其被配置为补偿由前向路径滤波器引入的延迟。为了加强控制，主控指令和从属关节观测器也被插入到控制系统中，以使用接收到的从关节位置指令和扭矩反馈来估计从关节位置，速度和加速度指令，并使用感测到的从属关系来估计实际的从关节位置，速度和加速度关节位置和指令的从动关节电机转矩。

9. 发明授权

US08490953B2 Spring counterbalance with failure detection 有权
标题翻译：弹簧平衡故障检测
公开(公告)号：US08490953B2
公开(公告)日：2013-07-23
申请号：US12165380
申请日：2008-06-30
申请人： Scott Osborne Luke , Giuseppe Prisco
发明人： Scott Osborne Luke , Giuseppe Prisco
IPC分类号： F16F1/00 , F16F9/00
CPC分类号： F16F15/28 , F16F2230/24
摘要： A spring counterbalance mechanism balances a load with a spring. A cable has a protrusion fixed to the cable midway between two ends of the cable. The two free ends of the cable are fixedly coupled to one of the load or the spring, and a cable attachment is coupled to the remaining member. The cable passes through the cable attachment such that the protrusion is captive in the cable attachment and is movable between two stops in the cable attachment. The cable forms two segments each of which couples the spring to the load. The two segments of the cable pass over a pulley. A sensor coupled to the pulley senses rotation of the pulley allowing cable breakage to be detected by the anomalous rotation of the pulley.
摘要翻译：弹簧平衡机构平衡负载与弹簧。电缆在电缆的两端之间的中途具有固定到电缆的突起。电缆的两个自由端固定地联接到负载或弹簧中的一个，并且电缆附件联接到剩余部件。电缆通过电缆附件，使得突出部被捕获在电缆附件中，并且可在电缆附件中的两个停止点之间移动。电缆形成两个部分，每个部分将弹簧耦合到负载。电缆的两段通过滑轮。耦合到滑轮的传感器感测滑轮的旋转，允许通过滑轮的异常旋转来检测电缆断裂。

10. 发明授权

US07815376B2 Fixture for shape-sensing optical fiber in a kinematic chain 有权
标题翻译：运动链中形状感应光纤夹具
公开(公告)号：US07815376B2
公开(公告)日：2010-10-19
申请号：US12164297
申请日：2008-06-30
申请人： Theodore W. Rogers , Giuseppe Prisco
发明人： Theodore W. Rogers , Giuseppe Prisco
IPC分类号： G02B6/38
CPC分类号： G02B6/38 , A61B34/30 , A61B2034/2061 , B33Y80/00 , G01B11/165 , G01D5/35303 , G01D5/35316 , G01D5/35377 , G01D11/245 , G01M11/083 , G02B6/022 , G02B6/3616 , G02B6/3644 , G02B6/3887 , Y10T29/49826 , Y10T29/49838 , Y10T29/49947
摘要： Localized strain is effectively eliminated in a shape sensing optical fiber where the fiber exits a link in a kinematic chain. In one aspect, the fiber is positioned in a channel within a fiber fixture portion of the link, and a surface of a lip of the channel is curved. The curved surface of the lip begins tangent to a wall of the channel and has a maximum radius of curvature that is less than the minimum bend radius that the fiber will experience during shape sensing. In another aspect the fiber is positioned within a shape memory alloy tube that extends from the link.
摘要翻译：局部应变在形状感测光纤中被有效地消除，其中纤维离开运动链中的连杆。在一个方面，纤维被定位在链节的纤维固定部分内的通道中，并且通道的唇缘的表面是弯曲的。唇缘的弯曲表面开始与通道的壁相切，并且具有小于在形状感测期间纤维将经历的最小弯曲半径的最大曲率半径。在另一方面，纤维位于从连杆延伸的形状记忆合金管内。

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